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A consensus dynamics with delay-induced instability can self-regulate for stability via agent regrouping.

M Hyong Koh1, Rifat Sipahi1

  • 1Department of Mechanical and Industrial Engineering, Northeastern University, Boston, Massachusetts 02115, USA.

Chaos (Woodbury, N.Y.)
|December 3, 2016
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Summary
This summary is machine-generated.

Communication delays in multi-agent systems can destabilize dynamics. However, network separation can lead to self-regulation and stabilization, even with large delays, by forming smaller, stable subnetworks.

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Area of Science:

  • Control Theory
  • Network Science
  • Robotics

Background:

  • Multi-agent systems are susceptible to communication/activation delays (τ).
  • System stability is maintained below a critical delay margin (τ*), which depends on agent dynamics and network topology.
  • Understanding delay effects is crucial for robust system design.

Purpose of the Study:

  • Investigate the impact of delay margin (τ*), network graph, and connectivity thresholds on multi-agent consensus dynamics under delay (τ).
  • Analyze the self-regulating stabilization mechanisms in unstable consensus dynamics.
  • Examine the robustness of the delay margin (τ*) against inherent delays in robot orientation measurements (τinh).

Main Methods:

  • Analysis of multi-agent consensus dynamics incorporating delay τ.
  • Mathematical framework development for computing delay margin (τ*) with respect to inherent delays (τinh) in a quasi-state.
  • Simulation and validation on a robot coordination model.

Main Results:

  • Unstable consensus dynamics can exhibit natural state bounding, preventing indefinite dispersion, even with large distance thresholds.
  • Network separation and an enhanced delay margin can induce self-regulating stabilization.
  • Unstable dynamics may fragment into smaller, stable subnetworks.
  • The delay margin (τ*) can be sensitive to inherent orientation measurement delays (τinh), but subnetwork stabilization remains possible.

Conclusions:

  • Network topology and delay margin play critical roles in multi-agent system stability under communication delays.
  • Self-regulation and subnetwork formation offer a robust stabilization mechanism for systems with delays.
  • The developed framework provides insights into the robustness of robotic systems against measurement delays.